The invention provides an underwater thrust vector control device which is simple, reliable and low in cost, and belongs to the field of underwater vehicles. The rectangular coordinate driving type underwater thrust vector control device comprises a ball head, a device shell, a propulsion motor, a crosshead, a crosshead seat, an X lead screw, an X lead screw seat, a Y lead screw, a Y lead screw seat and a sealing ring. The X lead screw and the Y lead screw form a rectangular coordinate type driving structure to control the crosshead seat to translate in a plane perpendicular to the axis of the device; under the action of the constraint relation between the crosshead seat and the crosshead, translation of the crosshead seat enables the propulsion motor to swing around the center of the ball head within a certain space angle range, meanwhile, the propulsion motor is prevented from rotating around the axis of the motor, and thrust vector control is achieved. Two lead screw driving motors, propellers and other thrusters are connected with the device, and after water sealing is conducted on rotating shafts and other movable parts of the thrusters, the device becomes a vector thruster capable of being used for underwater vehicle motion control.
本发明提出一种简单可靠、成本较低的水中推力矢量控制装置,属于水下航行器领域。本发明的一种直角坐标驱动式水中推力矢量控制装置包括球头、装置壳体、推进电机、十字头、十字头座、X丝杠、X丝杠座、Y丝杠、Y丝杠座、密封圈。X丝杠和Y丝杠构成一个直角坐标式驱动结构,控制十字头座在垂直于装置轴线的平面内平移;在十字头座与十字头之间的约束关系作用下,十字头座的平移使推进电机绕球头的球心在一定空间角度范围内摆动,同时阻止推进电机绕电机轴线转动,实现推力矢量控制。将两台丝杠驱动电机以及螺旋桨等类型推进器连接到本装置上并对推进器转轴等活动部位实施水密封后,该装置成为一种可用于水下航行器运动控制的矢量推进器。
Rectangular coordinate driving type underwater thrust vector control device
一种直角坐标驱动式水中推力矢量控制装置
2021-06-01
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
Entrainment & Thrust Vector Control with Contercurrent Rectangular Jets
British Library Conference Proceedings | 1999
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